IMU Functions

Functions
void	HAL_GetIMUAcceleration (HAL_Acceleration3d *accel, int32_t *status)
	Get the acceleration along the axes of the IMU in meters per second squared.
void	HAL_GetIMUGyroRates (HAL_GyroRate3d *rates, int32_t *status)
	Get the angular rate about the axes of the IMU in radians per second.
void	HAL_GetIMUEulerAnglesFlat (HAL_EulerAngles3d *angles, int32_t *status)
	Get the angle, in radians, about the axes of the IMU in the "flat" orientation.
void	HAL_GetIMUEulerAnglesLandscape (HAL_EulerAngles3d *angles, int32_t *status)
	Get the angle, in radians, about the axes of the IMU in the "landscape" orientation.
void	HAL_GetIMUEulerAnglesPortrait (HAL_EulerAngles3d *angles, int32_t *status)
	Get the angle, in radians, about the axes of the IMU in the "portrait" orientation.
void	HAL_GetIMUQuaternion (HAL_Quaternion *quat, int32_t *status)
	Get the orientation of the IMU as a quaternion.
double	HAL_GetIMUYawFlat (int64_t *timestamp)
	Get the yaw value, in radians, of the IMU in the "flat" orientation.
double	HAL_GetIMUYawLandscape (int64_t *timestamp)
	Get the yaw value, in radians, of the IMU in the "landscape" orientation.
double	HAL_GetIMUYawPortrait (int64_t *timestamp)
	Get the yaw value, in radians, of the IMU in the "portrait" orientation.

Detailed Description

Function Documentation

HAL_GetIMUAcceleration()

void HAL_GetIMUAcceleration	(	HAL_Acceleration3d *	accel,
		int32_t *	status )

Get the acceleration along the axes of the IMU in meters per second squared.

Parameters

[out]	accel	the acceleration data
[out]	status	the error code, or 0 for success

HAL_GetIMUEulerAnglesFlat()

void HAL_GetIMUEulerAnglesFlat	(	HAL_EulerAngles3d *	angles,
		int32_t *	status )

Get the angle, in radians, about the axes of the IMU in the "flat" orientation.

Parameters

[out]	angles	the angle data
[out]	status	the error code, or 0 for success

HAL_GetIMUEulerAnglesLandscape()

void HAL_GetIMUEulerAnglesLandscape	(	HAL_EulerAngles3d *	angles,
		int32_t *	status )

Get the angle, in radians, about the axes of the IMU in the "landscape" orientation.

Parameters

[out]	angles	the angle data
[out]	status	the error code, or 0 for success

HAL_GetIMUEulerAnglesPortrait()

void HAL_GetIMUEulerAnglesPortrait	(	HAL_EulerAngles3d *	angles,
		int32_t *	status )

Get the angle, in radians, about the axes of the IMU in the "portrait" orientation.

Parameters

[out]	angles	the angle data
[out]	status	the error code, or 0 for success

HAL_GetIMUGyroRates()

void HAL_GetIMUGyroRates	(	HAL_GyroRate3d *	rates,
		int32_t *	status )

Get the angular rate about the axes of the IMU in radians per second.

Parameters

[out]	rates	the angular rate data
[out]	status	the error code, or 0 for success

HAL_GetIMUQuaternion()

void HAL_GetIMUQuaternion	(	HAL_Quaternion *	quat,
		int32_t *	status )

Get the orientation of the IMU as a quaternion.

Parameters

[out]	quat	the quaternion
[out]	status	the error code, or 0 for success

HAL_GetIMUYawFlat()

double HAL_GetIMUYawFlat

(

int64_t *

timestamp

)

Get the yaw value, in radians, of the IMU in the "flat" orientation.

Parameters

[out]

timestamp

the timestamp of the sample

Returns

flat orientation yaw

HAL_GetIMUYawLandscape()

double HAL_GetIMUYawLandscape

(

int64_t *

timestamp

)

Get the yaw value, in radians, of the IMU in the "landscape" orientation.

Parameters

[out]

timestamp

the timestamp of the sample

Returns

landscape orientation yaw

HAL_GetIMUYawPortrait()

double HAL_GetIMUYawPortrait

(

int64_t *

timestamp

)

Get the yaw value, in radians, of the IMU in the "portrait" orientation.

Parameters

[out]

timestamp

the timestamp of the sample

Returns

portrait orientation yaw